Difference between revisions of "Bin Picking Tutorial: Setting up Photoneo Bin Picking Studio with FANUC robots"

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Please make sure that your Fanuc controller meets following criteria:
 
Please make sure that your Fanuc controller meets following criteria:
 +
 +
- '''System version 8.10 and higher''' (Versions 6.40 - 7.70 are also supported with certain limitations)
  
 
- '''R632 Karel''' - Karel option available
 
- '''R632 Karel''' - Karel option available
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- '''R648 User Socket Msg''' - Socket Communication option available
 
- '''R648 User Socket Msg''' - Socket Communication option available
  
−
- '''System version 8.10 and higher''' (Versions 6.40 - 7.70 are also supported with certain limitations)
+
Click Menu -> Status -> Version ID -> Next -> Order FI to show installed options
 +
 
  
 
[[File:Fanuc tutorial Step1.png]]
 
[[File:Fanuc tutorial Step1.png]]
  
 +
== 2. Fanuc Controller Setup ==
  
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== 2. Fanuc Controller Setup ==
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=== 2.1 Set an IP Addresses of Ethernet Ports ===
 +
 
 +
Turn on the robot controller and set the controller IP addresses to meet your network configuration.
  
−
=== 2.1 Set an IP Address ===
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On Pendant Press '''Menu''' -> '''Setup''' -> '''Host Comm''' -> '''TCP/IP''':
−
Turn on the robot controller and set the controller IP address to meet your network configuration.
 
  
−
On Pendant Press '''Menu''' -> '''Setup''' -> '''Host Comm''' -> '''TCP/IP''' and enter IP address:
 
  
 
[[File:Fanuc tutorial Step2.png]]
 
[[File:Fanuc tutorial Step2.png]]
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 +
 +
Two Ethernet ports should be available for configuration, it is recommended to configure '''Port#1''' for communication with Vision Controller:
  
  
 
[[File:Fanuc tutorial Step2 2.png]]
 
[[File:Fanuc tutorial Step2 2.png]]
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 +
 +
If you use RoboGuide for workcell commisioning, configure '''Port#2''' for transferring files between robot controller and your PC:
  
  
 
[[File:Fanuc tutorial Step3.png]]
 
[[File:Fanuc tutorial Step3.png]]
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 +
 +
=== 2.2 Configure TCP/IP Server ===
 +
 +
Photoneo Fanuc Module requires State Server to run as a background task on robot controller. Configured TCP/IP server is necessary for this purpose.
 +
 +
Press '''Menu''' -> '''Setup''' -> '''Host Comm''' -> '''Show''' and select '''Servers'''
  
  
 
[[File:Fanuc tutorial Step4.png]]
 
[[File:Fanuc tutorial Step4.png]]
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 +
 +
'''Select S3 slot''' - we keep S1 and S2 slots reserved for user application.
  
  
 
[[File:Fanuc tutorial Step5.png]]
 
[[File:Fanuc tutorial Step5.png]]
 +
 +
 +
Configure TCP/IP server S3 as shown in the figure below:
  
  
 
[[File:Fanuc tutorial Step6.png]]
 
[[File:Fanuc tutorial Step6.png]]
 +
 +
 +
=== 2.3 Configure TCP/IP Server ===
 +
 +
The main Photoneo Bin Picking application works in client mode. Configured TCP/IP Client is necessary for this purpose.
 +
 +
Press '''Menu''' -> '''Setup''' -> '''Host Comm''' -> '''Show''' and select '''Clients'''
 +
 +
 +
[[File:Fanuc tutorial Step4.png]]
 +
 +
 +
'''Select C3 slot''' - we keep C1 and C2 slots reserved for user application.
  
  
 
[[File:Fanuc tutorial Step7.png]]
 
[[File:Fanuc tutorial Step7.png]]
 +
 +
 +
Configure TCP/IP server C3 as shown in the figure below:
  
  
 
[[File:Fanuc tutorial Step9.png]]
 
[[File:Fanuc tutorial Step9.png]]
 +
 +
 +
 +
 +
  
  
 
[[File:Fanuc tutorial Step10.png]]
 
[[File:Fanuc tutorial Step10.png]]
 +
  
  

Revision as of 14:11, 11 July 2018

1. Prerequisites

Please make sure that your Fanuc controller meets following criteria:

- System version 8.10 and higher (Versions 6.40 - 7.70 are also supported with certain limitations)

- R632 Karel - Karel option available

- R648 User Socket Msg - Socket Communication option available

Click Menu -> Status -> Version ID -> Next -> Order FI to show installed options


Fanuc tutorial Step1.png

2. Fanuc Controller Setup

2.1 Set an IP Addresses of Ethernet Ports

Turn on the robot controller and set the controller IP addresses to meet your network configuration.

On Pendant Press Menu -> Setup -> Host Comm -> TCP/IP:


Fanuc tutorial Step2.png


Two Ethernet ports should be available for configuration, it is recommended to configure Port#1 for communication with Vision Controller:


Fanuc tutorial Step2 2.png


If you use RoboGuide for workcell commisioning, configure Port#2 for transferring files between robot controller and your PC:


Fanuc tutorial Step3.png


2.2 Configure TCP/IP Server

Photoneo Fanuc Module requires State Server to run as a background task on robot controller. Configured TCP/IP server is necessary for this purpose.

Press Menu -> Setup -> Host Comm -> Show and select Servers


Fanuc tutorial Step4.png


Select S3 slot - we keep S1 and S2 slots reserved for user application.


Fanuc tutorial Step5.png


Configure TCP/IP server S3 as shown in the figure below:


Fanuc tutorial Step6.png


2.3 Configure TCP/IP Server

The main Photoneo Bin Picking application works in client mode. Configured TCP/IP Client is necessary for this purpose.

Press Menu -> Setup -> Host Comm -> Show and select Clients


Fanuc tutorial Step4.png


Select C3 slot - we keep C1 and C2 slots reserved for user application.


Fanuc tutorial Step7.png


Configure TCP/IP server C3 as shown in the figure below:


Fanuc tutorial Step9.png




Fanuc tutorial Step10.png


Fanuc tutorial Step11.png


Fanuc tutorial Step12.png


Fanuc tutorial Step13.png


Fanuc tutorial Step14.png


Fanuc tutorial Step15.png


Fanuc tutorial Step16.png


Fanuc tutorial Step17.png


Fanuc tutorial Step18.png


Fanuc tutorial Step19.png


Fanuc tutorial Step20.png


Fanuc tutorial Step21.png


Fanuc tutorial Step22.png


Fanuc tutorial Step23.png


Fanuc tutorial Step24.png


Fanuc tutorial Step25.png


Fanuc tutorial Step26.png


Fanuc tutorial Step27.png


Fanuc tutorial Step28.png


Fanuc tutorial Step29.png


Plug Ethernet cable to appropriate socket in the Fanuc controller cabinet, restart the robot controller and try to ping

robot controller from the Vision Controller. If simple ping works, you can proceed to the configuration of robot controller communication.


2.2 Configure State Server

Now we will configure communication server for reporting current joint and tool poses to the Vision Controller

On Pendant press Menu -> Setup -> Host Comm -> F4[SHOW] -> Servers. Following list should appear:

Fanuc state server config 1.png


Enter S3 settings and configure PHOSTATE as shown in the figure below:


Fanuc state server config 2.png


Now, we need to set the server port which will be utilized for the communication.

Using pendant navigate to Menu -> Next -> System -> Variables.

Hold SHIFT to speed up scrolling and press ARROW DOWN several times to find - HOSTS_CFG as shown in the figure below:


Fanuc state server config 3.png


For State Server - S3 set SERVER_PORT system variable to 11004. (Be careful! SERVER_PORT and PORT are different items!)


Fanuc state server config 4.png

2.3 Configure Binpicking Client

As a next step we will configure communication client for transferring requests/responses between the Vision and Fanuc Controller.

On Pendant press Menu -> Setup -> Host Comm -> F4[SHOW] -> Clients. Following list should appear:


Fanuc bp client config 1.png


Enter C3 settings and configure PHOCLIENT as shown in the figure below.

Do not forget to input an IP address of Vision Controller Server here!


Fanuc bp client config 2.png


Hold SHIFT to speed up scrolling and press ARROW DOWN several times to find HOSTC_CFG as shown in the figure below


Fanuc bp client config 3.png


For C3 set SERVER_PORT system variable to 11003 (Be careful! SERVER_PORT and PORT are different items!)


Fanuc bp client config 4.png

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